Methods and devices for table pose tracking using fiducial markers

Abstract

A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

1 - 15 . (canceled) 
     
     
         16 . A method of estimating a pose of a surgical table comprising:
 reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table, the surgical table including a substrate and a support structure supporting the substrate, the substrate having a support surface, wherein the support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).   
     
     
         17 . The method of  claim 16 , further comprising:
 affixing the one or more fiducial markers to the surgical table or forming the one or more fiducial markers in the surgical table at select locations in a particular orientation relative to the surgical table, wherein forming the one or more fiducial markers in the surgical table comprises etching, engraving, and/or embossing the one or more fiducial markers in the surgical table.   
     
     
         18 . The method of  claim 16 , further comprising localizing the surgical table relative to the manipulator assembly on a common plane based on the reading of the one or more fiducial markers. 
     
     
         19 . The method of  claim 18 , wherein the common plane is a ground plane on which the surgical table and the manipulator assembly are disposed. 
     
     
         20 . The method of  claim 18 , further comprising:
 translating a 6 DOF 3D pose of the surgical table to a 3DOF 2D pose on the common plane; or   estimating a 3D pose of the surgical table relative to the manipulator assembly based on localization of the surgical table relative to the manipulator assembly on the common plane.   
     
     
         21 . The method of  claim 18 , wherein the one or more fiducial markers are disposed at multiple locations on the surgical table and wherein reading the one or more fiducial markers comprises reading at least one of the one or more fiducial markers. 
     
     
         22 . The method of  claim 18 , wherein reading the one or more fiducial markers comprises reading a single fiducial marker of the one or more fiducial markers and wherein localization of the surgical table is based on the reading of the single fiducial marker. 
     
     
         23 . The method of  claim 16 , further comprising:
 extracting locations of the surgical table within a visual image obtained with the camera and providing a representation or indication of the surgical table with respect to a camera view of the camera.   
     
     
         24 . The method of  claim 16 , further comprising:
 identifying a type, model, or make of the surgical table based on reading of the one or more fiducial markers, and   checking a compatibility aspect between the surgical table and the manipulator assembly or granting permissions for use of the manipulator assembly with the surgical table.   
     
     
         25 . A tele-surgical system comprising:
 a manipulator assembly;   a surgical table disposed in proximity to the manipulator assembly, the surgical table having one or more fiducial markers on a base of the surgical table, the surgical table further including a substrate and a support structure supporting the substrate, the substrate having a support surface, wherein the support structure is movable such that the support surface is positionable along one or more degrees of freedom (DOF);   a camera mounted to the manipulator assembly that is configured to read the one or more fiducial markers of the surgical table when the surgical table is positioned within close proximity of the manipulator assembly; and   a processor configured to read the one or more fiducial markers using the camera.   
     
     
         26 . The system of  claim 25 , wherein the one or more fiducial markers include a barcode, an RFID tag, a light, or any combination thereof. 
     
     
         27 . The system of  claim 25 , wherein the one or more fiducial markers are fixedly attached or formed in select portions and locations in a particular orientation relative to the surgical table such that a pose of the surgical table relative to a ground plane is determinable from reading of at least one of the one or more fiducial markers. 
     
     
         28 . The system of  claim 25 , wherein the processor is further configured to:
 localize the surgical table relative to the manipulator assembly on a common plane based on the reading of the one or more fiducial markers.   
     
     
         29 . The system of  claim 28 , wherein the surgical table is positionable along 6 DOF and the processor is further configured to:
 translate a 6 DOF 3D pose of the surgical table to a 3DOF 2D pose on the common plane.   
     
     
         30 . The system of  claim 28 , wherein the surgical table is positionable along 6 DOF and the processor is further configured to:
 estimate a 3D pose of the surgical table relative to the manipulator assembly based on localization of the base of the surgical table relative to the manipulator assembly on the common plane.   
     
     
         31 . The system of  claim 25 , wherein the processor is further configured to:
 extract locations of the surgical table within a visual image obtained with the camera, and   provide a representation or indication of the surgical table with respect to a camera view of the camera.   
     
     
         32 . The system of  claim 25 , wherein the processor is further configured to:
 identify a type, model, or make of surgical table based on reading of the one or more fiducial markers, and   check a compatibility aspect between the surgical table and the manipulator assembly and/or granting permissions for use of the manipulator assembly with the surgical table.   
     
     
         33 . A surgical table, comprising:
 a base;   a substrate having a patient support surface;   a support structure supporting the substrate, the support structure being movable such that the patient support surface is positionable along one or more DOF; and   one or more fiducial markers disposed on the base of the surgical table at select locations and/or orientations such that the one or more fiducial markers are readable using a camera when the surgical table is positioned and being communicatively coupled with a tele-surgical system having a manipulator assembly, wherein the camera has a known position relative to the manipulator assembly.   
     
     
         34 . The surgical table of  claim 33 , wherein the select locations and/or orientations are pre-determined such that the pose of the surgical table is determinable by reading of at least one of the one or more fiducial markers. 
     
     
         35 . The surgical table of  claim 33 , wherein the support structure is configured such that the substrate is positionable along 6 DOF.